堆垛机不空跑

hwh

2024-09-19 8ae6fce575bd8b29e858724df186535abe5b6e52

 Admin.NET/WCS.Application/PLC/PLCService.cs

@@ -1,60 +1,1257 @@

using DocumentFormat.OpenXml.Bibliography;
using Elastic.Clients.Elasticsearch.Tasks;
using Furion.Logging;
using IoTClient;
using Microsoft.AspNetCore.SignalR;
using Qiniu.Storage;
using RazorEngine.Compilation.ImpromptuInterface.Dynamic;
using SKIT.FlurlHttpClient.Wechat.TenpayV3.ExtendedSDK.Global.Models;
using System;
using System.Data;
using System.Reflection.Emit;

namespace WCS.Application;
public static class PLCService
{
    private static readonly ISqlSugarClient _db = SqlSugarSetup.ITenant.GetConnectionScope(SqlSugarConst.MainConfigId);

    public static void OnChangeEvent(object sender, EventArgs e)
    {
        var mod = sender as WcsDeviceDto;
        Console.WriteLine("PLC值为" + mod.Value);
        switch (mod.Type)
        try
        {
            case PLCTypeEnum.StackingMachine:
                if (mod.Value == 820)
            var mod = sender as WcsDeviceDto;
            Console.WriteLine("PLC值为" + mod.Value);
            switch (mod.Type)
            {
                case PLCTypeEnum.StackingMachine:
                    StackingMachine(mod);
                    break;
                case PLCTypeEnum.ConveyorLine:
                    ConveyorLine(mod);
                    break;
                case PLCTypeEnum.AGV:
                    AGV(mod);
                    break;
                case PLCTypeEnum.PalletMachine:
                    PalletMachine(mod);
                    break;
                case PLCTypeEnum.StackingRobot:
                    PalletMachine(mod);
                    break;
                default:
                    break;
            }
        }
        catch (Exception ex)
        {
            Log.Error(ex.Message, ex);
        }
    }
    /// <summary>
    /// 跺机业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void StackingMachine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
        {
            case "820":
                // 跺机空闲，获取出库任务、移库任务
                {
                    //测试写入830
                    var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
                    //写入是否成功
                    if (result.IsSucceed)
                    // 获取任务信息
                    var modTask = _db.Queryable<WcsTask>().OrderBy(m => m.CreateTime).OrderBy(m => m.Levels, OrderByType.Desc)
                        .First(s => s.Status == TaskStatusEnum.Wait && (s.TaskType == TaskTypeEnum.Out || s.TaskType == TaskTypeEnum.Move)
                        && s.StartRoadway == modDevice.StationNum);
                    if (modTask == null)
                    {
                        break;
                    }

                    // 根据目标地址和巷道获取放货工位对应的排列层
                    PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
                        modTask.StartRoadway, modTask.EndRoadway);

                    // 目标工位不为null，需先判断放货工位是否空闲
                    if (!string.IsNullOrEmpty(taskInfo.EndStation))
                    {
                        // 打开对应的输送线连接
                        var plcConveyorConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == taskInfo.Ip);
                        if (plcConveyorConn.Connected)
                        {
                            // 获取放货工位配置信息
                            var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == taskInfo.EndStation
                            && m.DeviceType == DeviceTypeEnum.Business);

                            var (result, value) = plcConveyorConn.GetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.PlcPos);
                            if (result.IsSucceed)
                            {
                                if (value.ToString() != "720")              // 720:放货空位空闲，可放货
                                {
                                    Log.Error(string.Format("任务号:{0}:放货工位占用，稍后执行。", modTask.TaskNo));
                                    break;
                                }
                            }
                            else
                            {
                                break;
                            }
                        }
                        else
                        {
                            break;
                        }
                    }

                    // 获取转换后的起始排列层
                    PlcTaskInfo startTaskInfo = PLCCommon.GetEndPai(modTask.StartLocate.Substring(1, 2),
                    modTask.StartLocate.Substring(0, 2), modTask.StartLocate.Substring(4, 2),
                    modTask.StartLocate.Substring(6, 2));

                    // 给PLC写入任务数据
                    var listResult = new List<Result>();
                    // 任务号托盘号
                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                    listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                    var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
                    listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                    // 起始排列层
                    var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
                    listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, startTaskInfo.EndPai));
                    var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
                    listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, startTaskInfo.EndLie));
                    var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
                    listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, startTaskInfo.EndCeng));
                    // 目标放货工位(固定排列层)
                    var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
                    listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, taskInfo.EndPai));
                    var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
                    listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, taskInfo.EndLie));
                    var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
                    listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, taskInfo.EndCeng));

                    // 是否写入成功
                    if (listResult.All(s => s.IsSucceed))
                    {
                        // 写入跺机任务下发完成
                        plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "830");

                        // 将移库任务待执行改为正在执行
                        _db.Updateable<WcsTask>()
                            .SetColumns(s => s.Status == TaskStatusEnum.Doing)
                            .Where(s => s.Id == modTask.Id)
                            .ExecuteCommand();
                        HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                        WcsTaskMonitor modInsertTaskMonitor;
                        if (string.IsNullOrEmpty(taskInfo.EndStation))
                        {
                            // 同巷道移库
                            modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{modTask.EndLocate}储位。",
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modTask.StartLocate,
                                EndLocat = modTask.EndLocate,
                            };
                        }
                        else
                        {
                            // 出库任务 跨巷道移库
                            modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令：{modTask.StartLocate}储位====》{taskInfo.EndStation}工位。",
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modTask.StartLocate,
                                EndLocat = modTask.EndLocate,
                            };
                        }

                        // 插入交互日志
                        _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                        //下发任务日志
                        HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        //修改led屏信息
                        //LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
                    }
                }
                else if (mod.Value == 840)
                break;
            case "840":
                // 取货完成
                {
                    //测试批量读取
                    Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
                    foreach (var modStation in mod.listStation)
                    {
                        listaddress.Add(modStation.PlcPos, modStation.PosType.Value);
                    }
                    var result = mod.PLCUtil.GetPlcBatchDBValue(listaddress);
                    if (!result.IsSucceed)
                    {
                        if (result.Value.Count > 0)//有错误的也有成功的
                        {
                    // 获取跺机点位配置
                    var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);

                    var modPosEndStation = modDevice.listStation.FirstOrDefault(m => m.Text == "目的工位");
                    var (endStationRes, endStation) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTask.PlcPos);
                    if (res.IsSucceed)
                    {
                        // 获取任务信息
                        string tasknoVal = val.ToString();
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
                        if (modTask == null)
                        {
                            Log.Error(string.Format("PLC控制字840:未找到对应的任务。"));
                            break;
                        }
                        // 记录任务明细
                        var modInsertTaskMonitor = new WcsTaskMonitor()
                        {
                            TaskNo = modTask.TaskNo,
                            PlcId = modDevice.Id,
                            PlcName = modDevice.Text,
                            PalletNo = modTask.PalletNo,
                            Status = TaskStatusEnum.Complete,
                            StartLocat = modTask.StartLocate,
                        };

                        if (modTask.TaskType == TaskTypeEnum.In)
                        {
                            // 获取跺机起始工位点位配置,读取起始工位
                            var modPosStartStation = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
                            var (startStationRes, startStationVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosStartStation.PlcPos);
                            if (startStationRes.IsSucceed)
                            {
                                // 根据工位号获取对应的输送线IP
                                var plcConveyorConn = PLCCommon.GetPlcIp(startStationVal);
                                if (plcConveyorConn.Connected)
                                {
                                    // 向取货工位写入流程字640  取货已完成
                                    var ConveyorMod = PLCTaskAction.plcDevices.First(m => m.StationNum == startStationVal
                                                            && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == true);
                                    var retc = plcConveyorConn.SetPlcDBValue(ConveyorMod.PosType, ConveyorMod.DbNumber, ConveyorMod.WcsPos, "640");
                                    var modcTaskMonitor = new WcsTaskMonitor()
                                    {
                                        TaskNo = modTask.TaskNo,
                                        PlcId = ConveyorMod.Id,
                                        PlcName = ConveyorMod.Text,
                                        PalletNo = modTask.PalletNo,
                                        Status = TaskStatusEnum.Complete,
                                        StartLocat = startStationVal,
                                        EndLocat = modTask.EndLocate                  // 目标储位地址
                                    };
                                    if (!retc.IsSucceed)
                                    {
                                        modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640失败等待在次写入", startStationVal);
                                        // 插入交互日志
                                        _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                        //下发任务日志
                                        HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                        break;
                                    }

                                    modcTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0},写入取货完成640成功", startStationVal);
                                    // 插入交互日志
                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                    //下发任务日志
                                    HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                }

                                // 写入流程控制字
                                var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
                                if (!ret.IsSucceed)
                                {
                                    break;              // 写入失败跳出等待再次写入
                                }

                                modInsertTaskMonitor.InteractiveMsg = string.Format("输送线取货工位：{0}跺机取货完成850成功", startStationVal);
                                modInsertTaskMonitor.EndLocat = modTask.EndLocate;                  // 目标储位地址
                                                                                                    // 插入交互日志
                                _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                //下发任务日志
                                HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }
                        }
                        else if (modTask.TaskType == TaskTypeEnum.Out)
                        {
                            // 写入流程控制字
                            var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
                            if (!ret.IsSucceed)
                            {
                                break;              // 写入失败跳出等待再次写入
                            }

                            // 记录任务明细
                            modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
                            modInsertTaskMonitor.EndLocat = endStation;                  // 放货工位
                        }
                        else
                        {
                            // 写入流程控制字
                            var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "850");
                            if (!ret.IsSucceed)
                            {
                                break;              // 写入失败跳出等待再次写入
                            }

                            modInsertTaskMonitor.InteractiveMsg = string.Format("储位地址：{0}取货完成", modTask.StartLocate);
                            modInsertTaskMonitor.EndLocat = endStation;                  // 目标储位
                        }

                        // 插入交互日志
                        _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                        //下发任务日志
                        HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        //修改led屏信息
                        //LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
                    }
                }
                break;
            case "860":
                {
                    // 获取跺机点位配置
                    var modPos860Task = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (res, val) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPos860Task.PlcPos);
                    // 根据任务号获取任务信息
                    if (res.IsSucceed)
                    {
                        string tasknoVal = val.ToString();
                        var modTask = _db.Queryable<WcsTask>().First(m => m.Status == TaskStatusEnum.Doing && m.TaskNo == tasknoVal && m.IsDelete == true);
                        if (modTask == null)
                        {
                            Log.Error(string.Format("跺机控制字860:未找到对应的任务。"));
                            break;
                        }

                        switch (modTask.TaskType)
                        {
                            case TaskTypeEnum.In:
                                {
                                    var res870 = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                    if (!res870.IsSucceed)
                                    {
                                        Log.Error(string.Format("跺机控制字860写入870失败!"));
                                        break;
                                    }

                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();
                                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                                    var modTaskMonitor = new WcsTaskMonitor()
                                    {
                                        TaskNo = modTask.TaskNo,
                                        PlcId = modDevice.Id,
                                        PlcName = modDevice.Text,
                                        PalletNo = modTask.PalletNo,
                                        Status = TaskStatusEnum.Complete,
                                        StartLocat = modTask.StartLocate,
                                        EndLocat = modTask.EndLocate,
                                        InteractiveMsg = $"任务完成"
                                    };
                                    if (modTask.Origin == "WMS")
                                    {
                                        // 反馈WMS
                                        var requestMode = new TaskRequest()
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = TaskTypeEnum.In,
                                            TaskStatus = TaskStatusEnum.Complete
                                        };
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
                                        if (modResponseTask.StatusCode == "0")
                                        {
                                            modTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                        }
                                    }
                                    // 插入交互日志
                                    _db.Insertable(modTaskMonitor).ExecuteCommand();
                                    //下发任务日志
                                    HubUtil.PublicTaskMonitor(modTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                                    // 此处添加不空跑业务
                                }
                                break;
                            case TaskTypeEnum.Out: // 出库任务
                                {
                                    string roadway = modTask.StartRoadway;
                                    // 从出库任务获取放货工位
                                    string outCode = modTask.EndLocate;
                                    // 根据工位号获取对应的输送线IP
                                    var plcConveyorConn = PLCCommon.GetPlcIp(outCode);
                                    if (plcConveyorConn.Connected)
                                    {
                                        // 根据目标地址和巷道获取放货工位对应的排列层
                                        PlcTaskInfo taskInfo = PLCCommon.GetCTaskInfo(modTask.EndLocate, modTask.TaskType.ToString(),
                                            modTask.StartRoadway, modTask.EndRoadway);
                                        // 根据工位号获取工位信息
                                        var wcsDevice = PLCTaskAction.plcDevices.First(s => s.PlcId == plcConveyorConn.PlcId && s.Level == DeviceLevelEnum.Station && s.StationNum == taskInfo.EndStation);
                                        // 读取当前工位各偏移量值
                                        var listPos = PLCTaskAction.plcPositions.Where(s => s.DeviceId == wcsDevice.Id).ToList();

                                        // 给PLC写入任务数据
                                        var listResult = new List<Result>();
                                        //任务号
                                        var modPosTask = listPos.FirstOrDefault(s => s.Text == "任务号");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                                        //任务类型
                                        var modPosTaskType = listPos.FirstOrDefault(s => s.Text == "任务类型");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, ((int)modTask.TaskType).ToString()));
                                        //托盘号
                                        var modPosPalletNo = listPos.FirstOrDefault(s => s.Text == "托盘码");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                                        //起始工位
                                        var modPosLocatNo = listPos.FirstOrDefault(s => s.Text == "起始工位");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosLocatNo.PosType, modDevice.DbNumber, modPosLocatNo.PlcPos, taskInfo.EndStation));
                                        // 目标工位
                                        var modPosEndLocatNo = listPos.FirstOrDefault(s => s.Text == "目的工位");
                                        listResult.Add(plcConn.SetPlcDBValue(modPosEndLocatNo.PosType, modDevice.DbNumber, modPosEndLocatNo.PlcPos, outCode));

                                        // 是否写入成功
                                        if (listResult.All(s => s.IsSucceed))
                                        {
                                            var result = plcConveyorConn.SetPlcDBValue(wcsDevice.PosType, wcsDevice.DbNumber, wcsDevice.WcsPos, "740");

                                            if (result.IsSucceed)
                                            {
                                                // 写入跺机wcs控制字 返回垛机执行完成
                                                result = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "870");
                                                if (result.IsSucceed)
                                                {
                                                    var modcTaskMonitor = new WcsTaskMonitor()
                                                    {
                                                        TaskNo = modTask.TaskNo,
                                                        PlcId = wcsDevice.Id,
                                                        PlcName = wcsDevice.Text,
                                                        PalletNo = modTask.PalletNo,
                                                        Status = TaskStatusEnum.Complete,
                                                        StartLocat = taskInfo.EndStation,
                                                        EndLocat = outCode,
                                                        InteractiveMsg = $"写入指令：收到跺机放货完成；放货{taskInfo.EndStation}工位===》{outCode}出库口"
                                                    };
                                                    // 插入交互日志
                                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                                    //下发任务日志
                                                    HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                                    break;
                                                }
                                            }
                                        }
                                        //此处添加不空跑业务
                                    }
                                }
                                break;
                            case TaskTypeEnum.Move:       // 移库任务
                                {
                                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                                    var result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo);
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}写入任务号失败");
                                        break;
                                    }
                                    result = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "30");
                                    if (!result.IsSucceed)
                                    {
                                        Log.Error($"{modDevice.Text}控制字写入30失败");
                                        break;
                                    }
                                    // 改变任务状态
                                    modTask.Status = TaskStatusEnum.Complete;
                                    modTask.FinishDate = DateTime.Now;
                                    _db.Updateable(modTask).ExecuteCommand();
                                    //下发任务日志
                                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                                    var modcTaskMonitor = new WcsTaskMonitor()
                                    {
                                        TaskNo = modTask.TaskNo,
                                        PlcId = modDevice.Id,
                                        PlcName = modDevice.Text,
                                        PalletNo = modTask.PalletNo,
                                        Status = TaskStatusEnum.Complete,
                                        StartLocat = modTask.StartLocate,
                                        EndLocat = modTask.EndLocate,
                                        InteractiveMsg = $"任务完成"
                                    };
                                    if (modTask.Origin == "WMS")
                                    {
                                        // 反馈WMS
                                        var requestMode = new TaskRequest()
                                        {
                                            TaskNo = modTask.TaskNo,
                                            PalletNo = modTask.PalletNo,
                                            TaskType = TaskTypeEnum.Move,
                                            TaskStatus = TaskStatusEnum.Complete
                                        };
                                        HttpService httpService = new HttpService();
                                        var modResponseTask = httpService.RequestTask(requestMode).Result;
                                        if (modResponseTask.StatusCode == "0")
                                        {
                                            modcTaskMonitor.InteractiveMsg = "任务完成，返回给WMS任务完成";
                                            //修改储位信息 任务类型 执行状态 起始位置 目标位置

                                        }
                                    }
                                    // 插入交互日志
                                    _db.Insertable(modcTaskMonitor).ExecuteCommand();
                                    //下发任务日志
                                    HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                                    // 此处添加不空跑业务
                                }
                                break;
                            default: break;
                        }
                    }
                }
                else if (mod.Value == 860)
                break;
            case "841":
                {

                }
                break;
            case PLCTypeEnum.ConveyorLine:

            case "843":
                {
                    //空取货异常
                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                    var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                    if (!result.IsSucceed)
                        break;
                    string taskNo = Convert.ToString(TaskNo);
                    var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
                    if (modTask == null)
                    {
                        Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
                        break;
                    }
                    var res = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "844");
                    if (!res.IsSucceed)
                        break;
                    modTask.Status = TaskStatusEnum.Exception;
                    _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                    Log.Information($"【堆垛机】wcs任务变更空取异常，任务号：{modTask.TaskNo}");
                    var modTaskRequest = modTask.Adapt<TaskRequest>();
                    HttpService httpService = new HttpService();
                    var modResponseTask = httpService.RequestEmptyException(modTaskRequest).Result;
                    if (modResponseTask.StatusCode == "0")
                    {
                        //请求成功
                        modTask.IsSuccess = TaskSuccessEnum.Success;
                        _db.Updateable(modTask).UpdateColumns(s => s.IsSuccess).ExecuteCommand();
                        //下发任务日志
                        HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                    }
                    else
                    {
                        //请求失败
                        modTask.IsSuccess = TaskSuccessEnum.Fail;
                        modTask.Information = modResponseTask.Message;
                        _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
                        HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                    }
                }
                break;
            case PLCTypeEnum.AGV:
                break;
            case PLCTypeEnum.PalletMachine:
            case "861":
                {
                    //满放货异常
                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                    var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘号");
                    var (result, TaskNo) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                    if (!result.IsSucceed)
                        break;
                    string taskNo = Convert.ToString(TaskNo);
                    var modTask = _db.Queryable<WcsTask>().First(s => s.TaskNo == taskNo && s.Status == TaskStatusEnum.Doing);
                    if (modTask == null)
                    {
                        Log.Error($"【堆垛机】当前任务号不存在对应的任务，任务号：{modTask.TaskNo}");
                        break;
                    }
                    modTask.Status = TaskStatusEnum.Exception;
                    _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
                    HubUtil.PublicTask(modTask.Adapt<WcsTaskOutput>());
                    Log.Information($"【堆垛机】wcs任务变更满取异常，任务号：{modTask.TaskNo}");
                    var modTaskRequest = modTask.Adapt<TaskRequest>();
                    HttpService httpService = new HttpService();
                    var modResponseTask = httpService.RequestFullException(modTaskRequest).Result;
                    if (modResponseTask.StatusCode == "0")
                    {
                        //修改任务为正在执行
                        modTask.Status = TaskStatusEnum.Doing;
                        _db.Updateable(modTask).UpdateColumns(s => s.Status).ExecuteCommand();
                        // 起始排列层
                        var modPosRow = modDevice.listStation.FirstOrDefault(s => s.Text == "取货排");
                        var modPosColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "取货列");
                        var modPosStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "取货层");
                        // 目标放货工位
                        var modPosEndRow = modDevice.listStation.FirstOrDefault(s => s.Text == "放货排");
                        var modPosEndColumn = modDevice.listStation.FirstOrDefault(s => s.Text == "放货列");
                        var modPosEndStorey = modDevice.listStation.FirstOrDefault(s => s.Text == "放货层");
                        string endLocat = modResponseTask.TaskList.EndLocate;
                        string row = int.Parse(endLocat.Substring(0, 2)).ToString();
                        string column = int.Parse(endLocat.Substring(2, 2)).ToString();
                        string storey = int.Parse(endLocat.Substring(4, 2)).ToString();

                        // 给PLC写入任务数据
                        var listResult = new List<Result>();
                        // 任务号托盘号
                        listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                        listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                        // 起始排列层
                        listResult.Add(plcConn.SetPlcDBValue(modPosRow.PosType, modDevice.DbNumber, modPosRow.PlcPos, "2"));
                        listResult.Add(plcConn.SetPlcDBValue(modPosColumn.PosType, modDevice.DbNumber, modPosColumn.PlcPos, "100"));
                        listResult.Add(plcConn.SetPlcDBValue(modPosStorey.PosType, modDevice.DbNumber, modPosStorey.PlcPos, "1"));
                        listResult.Add(plcConn.SetPlcDBValue(modPosEndRow.PosType, modDevice.DbNumber, modPosEndRow.PlcPos, row));
                        listResult.Add(plcConn.SetPlcDBValue(modPosEndColumn.PosType, modDevice.DbNumber, modPosEndColumn.PlcPos, column));
                        listResult.Add(plcConn.SetPlcDBValue(modPosEndStorey.PosType, modDevice.DbNumber, modPosEndStorey.PlcPos, storey));
                        // 是否写入成功
                        if (listResult.All(s => s.IsSucceed))
                        {
                            // 向跺机写入控制流程字
                            var res = modDevice.PLCUtil.SetPlcDBValue(modDevice.PosType, modDevice.WcsPos, "862");
                            var modcTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = endLocat,
                                InteractiveMsg = $"写入指令：{modDevice.StationNum}工位====》" + endLocat + "储位地址!"
                            };
                            // 插入交互日志
                            _db.Insertable(modcTaskMonitor).ExecuteCommand();
                            //下发任务日志
                            HubUtil.PublicTaskMonitor(modcTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        }

                    }
                    //else
                    //{
                    //    //请求失败
                    //    modTask.IsSuccess = TaskSuccessEnum.Fail;
                    //    modTask.Information = modResponseTask.Message;
                    //    _db.Updateable(modTask).UpdateColumns(s => new { s.IsSuccess, s.Information }).ExecuteCommand();
                    //}
                }
                break;
            default:
                break;
        }
    }
    /// <summary>
    /// 堆垛机不空跑
    /// </summary>
    /// <param name="modTask">操作完成的任务</param>
    /// <param name="plcConn">plc连接</param>
    private static void ContinuousOperation(WcsTask modTask, PLCUtil plcConn)
    {
        //列 todo:上面代码拿来的，这里不理解为啥是1,2 不是2,2？
        int col = modTask.EndLocate.Substring(1, 2).ToInt();
        int row = modTask.EndLocate.Substring(0, 2).ToInt();
        int storey = modTask.EndLocate.Substring(4, 2).ToInt();
        int deep = modTask.EndLocate.Substring(6, 2).ToInt();
        // 查询所有待执行的任务
        var listTask = _db.Queryable<WcsTask>().Where(s => s.Status == TaskStatusEnum.Wait).ToList();
        switch (modTask.TaskType)
        {
            case TaskTypeEnum.In:
                {
                    // 先找出对应排列层的入库任务
                    var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In)
                                             .Select(s => s.EndLocate.Substring(0, 6))
                                             .ToHashSet();

                    // 找出库任务，对应巷道的任务
                    var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out && s.StartRoadway == modTask.EndRoadway).ToList();

                    foreach (var modNext in listNextTask)
                    {
                        // 如果有对应排列层的入库任务，那就不能优先执行
                        if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
                        {
                            continue;
                        }

                        // todo: 写入modNext任务信息给plc
                        Console.WriteLine($"入库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
                        break;
                    }
                }
                break;
            case TaskTypeEnum.Out:
                {
                    // 先找出对应排列层的出库任务
                    var listInTask = listTask.Where(s => s.TaskType == TaskTypeEnum.Out)
                                             .Select(s => s.EndLocate.Substring(0, 6))
                                             .ToHashSet();

                    // 找入库任务，对应巷道的任务
                    var listNextTask = listTask.Where(s => s.TaskType == TaskTypeEnum.In && s.StartRoadway == modTask.EndRoadway).ToList();

                    foreach (var modNext in listNextTask)
                    {
                        // 如果有对应排列层的出库任务，那就不能优先执行
                        if (listInTask.Contains(modNext.EndLocate.Substring(0, 6)))
                        {
                            continue;
                        }

                        // todo: 写入modNext任务信息给plc
                        Console.WriteLine($"出库任务{modTask.TaskNo}执行完成后，不空跑逻辑检测下一任务为{modNext.TaskNo}");
                        break;
                    }
                }
                break;
            case TaskTypeEnum.Move:
                {
                    var modDevice = _db.Queryable<WcsDevice>().Where(s => s.PlcId == plcConn.PlcId && s.DeviceType == DeviceTypeEnum.Show).First();
                    var (result, value) = plcConn.GetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.PlcPos);
                    //当前堆垛机所在位置
                    var height = Math.Round(value / 790000d * 200).ToInt();
                    //todo:这里看能不能找到堆垛机所在位置在哪个排列层，优先寻找附近的任务？
                }
                break;
        }
    }

    /// <summary>
    /// 输送线业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void ConveyorLine(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        // 获取楼层数ceshi
        var louCeng = PLCCommon.GetRoadwayByStationNew(modDevice.StationNum);
        switch (modDevice.Value.ToString())
        {
            case "320":
                {
                    // 申请巷道
                    string strMsg = "";
                    string taskModel = "";
                    // 判断是否演示模式
                    if (PLCTaskAction.boDemo)
                    {
                        taskModel = "1";// 演示模式
                    }
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    var http = new HttpService();
                    string TaskNo = "", EndLocate = "";
                    strMsg = http.RequestRoadWay(palletVal, modDevice.StationNum, taskModel, louCeng, ref EndLocate, ref TaskNo);

                    if (!strMsg.Contains("-1"))
                    {
                        // 写入330
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "330");

                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令330：{modDevice.StationNum}工位申请巷道",
                                PalletNo = palletVal,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = EndLocate,
                            };

                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                            // 通知任务界面任务已存在更新 请更新界面
                            HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            // led更新内容
                            //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                            //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                        }

                    }
                    else
                    {
                        // 申请巷道失败！LED显示
                        Log.Error(string.Format($"申请巷道失败:{strMsg},读写plc错误"));
                    }
                }
                break;
            case "330":
                {
                    // 写入任务 托盘移动 340

                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    string pallet = palletVal.ToString();
                    // 获取任务信息
                    var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && (s.Status == TaskStatusEnum.Wait || s.Status == TaskStatusEnum.Doing) && s.TaskType == TaskTypeEnum.In);
                    if (modTask == null)
                    {
                        // 此托盘没有对应的转移任务 led显示
                        break;
                    }

                    // 获取巷道口入库工位
                    string endLocatVlue = PLCCommon.RoadwayToStationNum(modTask.EndRoadway, louCeng);
                    // 给PLC写入任务数据
                    var listResult = new List<Result>();
                    // 任务号、任务类型、托盘号
                    var modPosTask = modDevice.listStation.FirstOrDefault(s => s.Text == "任务号");
                    listResult.Add(plcConn.SetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                    var modPosTaskType = modDevice.listStation.FirstOrDefault(s => s.Text == "任务类型");
                    var taskTypeStr = (int)modTask.TaskType;
                    listResult.Add(plcConn.SetPlcDBValue(modPosTaskType.PosType, modDevice.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
                    var modPosPalletNo = modDevice.listStation.FirstOrDefault(s => s.Text == "托盘码");
                    listResult.Add(plcConn.SetPlcDBValue(modPosPalletNo.PosType, modDevice.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));
                    // 起始工位、目的工位
                    var modPosStrLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "起始工位");
                    listResult.Add(plcConn.SetPlcDBValue(modPosStrLocat.PosType, modDevice.DbNumber, modPosStrLocat.PlcPos, modDevice.StationNum));
                    var modPosEndLocat = modDevice.listStation.FirstOrDefault(s => s.Text == "目的工位");
                    listResult.Add(plcConn.SetPlcDBValue(modPosEndLocat.PosType, modDevice.DbNumber, modPosEndLocat.PlcPos, endLocatVlue));


                    if (listResult.All(s => s.IsSucceed))
                    {
                        // 将任务状态变更为正在执行
                        _db.Updateable<WcsTask>()
                           .SetColumns(s => s.Status == TaskStatusEnum.Doing)
                           .Where(s => s.Id == modTask.Id)
                           .ExecuteCommand();
                        // 写入流程字 330 340

                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "340");


                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令340：{modDevice.StationNum}储位====》{endLocatVlue}工位",
                                PalletNo = palletVal,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = endLocatVlue,
                            };

                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                            // 通知任务界面任务已存在更新 请更新界面
                            HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                            // led更新内容
                            //LedDisplay(modDevice.LedIP, "工位:" + modTask.EndLocate, "出库中 " + $"储位地址：{modTask.StartLocate}", "托盘号:" + modTask.PalletNo);
                        }
                    }

                }
                break;
            case "620":
                {
                    // 申请储位 更新入库任务(储位地址) 630

                    var strMsg = "";
                    var taskModel = "";
                    // 判断是否演示模式
                    if (PLCTaskAction.boDemo)
                    {
                        // 演示模式
                        taskModel = "1";
                    }
                    // 根据工位号获取巷道号
                    var roadway = PLCCommon.GetRoadwayByStation(modDevice.StationNum);
                    if (roadway == "")
                    {
                        break;
                    }
                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    if (!res.IsSucceed)
                    {
                        break;
                    }
                    var http = new HttpService();
                    string TaskNo = "";
                    // 向WMS申请储位信息
                    strMsg = http.RequestLocate(palletVal, modDevice.StationNum, taskModel, roadway, ref TaskNo);
                    if (!strMsg.Contains("-1"))
                    {
                        // 写入流程字 630
                        var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "630");

                        if (ret.IsSucceed)
                        {
                            // 插入任务明细 
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                InteractiveMsg = $"写入指令340：{modDevice.StationNum}工位申请储位",
                                PalletNo = palletVal,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = strMsg,
                            };

                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                            // 通知任务界面任务已存在更新 请更新界面
                            HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            // led更新内容
                            //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                            //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                        }
                    }
                    else
                    {
                        // 申请储位失败！LED显示
                        Log.Error(string.Format($"申请储位失败:{strMsg},读写plc错误"));
                    }

                }
                break;
            case "630":
                {
                    #region 写入跺机取货任务 640

                    // 获取工位托盘码信息
                    var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                    var (res, palletVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosPallet.PlcPos);
                    // 获取工位任务号信息
                    var modPosTaskNo = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                    var (taskRes, taskNoVal) = plcConn.GetPlcDBValue(PLCDataTypeEnum.String, modDevice.DbNumber, modPosTaskNo.PlcPos);
                    if (!res.IsSucceed || !taskRes.IsSucceed)
                    {
                        break;
                    }
                    string pallet = palletVal.ToString();
                    string taskNo = taskNoVal.ToString();
                    // 获取任务信息
                    var modTask = _db.Queryable<WcsTask>().First(s => s.IsDelete == false && s.PalletNo == pallet && s.Status == TaskStatusEnum.Doing && s.TaskType == TaskTypeEnum.In && s.TaskNo == taskNo);
                    if (modTask == null)
                    {
                        // 此托盘没有对应的转移任务 led显示
                        break;
                    }

                    var sInfo = PLCCommon.GetStokePlc(modTask.EndRoadway, louCeng);
                    if (string.IsNullOrWhiteSpace(sInfo.Ip))
                    {
                        //需加上LED显示
                        Log.Error(string.Format($"根据巷道获取跺机IP失败，请联系管理员"));
                        break;
                    }
                    // 跺机连接
                    var plcStackeConn = PLCTaskAction.listPlcConn.First(m => m.PlcIP == sInfo.Ip);
                    if (plcStackeConn.Connected)
                    {
                        // 目标排列层
                        var endLocate = modTask.EndLocate;
                        if (string.IsNullOrWhiteSpace(modTask.EndLocate))
                        {
                            Log.Error(string.Format($"目标位置为空，请人工处理,读写plc错误"));
                            break;
                        }

                        var paiVal = PLCCommon.GetDjAdress(modTask.EndRoadway.Substring(1, 2), endLocate.Substring(0, 2), endLocate.Substring(6, 2));
                        string pai = paiVal.ToString();
                        string lie = int.Parse(endLocate.Substring(2, 2)).ToString();
                        string ceng = int.Parse(endLocate.Substring(4, 2)).ToString();

                        var djMod = PLCTaskAction.plcDevices.First(m => m.StationNum == modTask.EndRoadway
                            && m.DeviceType == DeviceTypeEnum.Business && m.IsDelete == false);
                        var djInfos = PLCTaskAction.plcPositions.Where(m => m.IsDelete == false && m.DeviceId == djMod.Id).ToList();
                        var djInfo = djInfos.First(m => m.Text == "PLC流程字");

                        // 获取跺机当前状态
                        var (djRes, djVal) = plcStackeConn.GetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.PlcPos);

                        if (!djRes.IsSucceed || djVal != "820")
                        {
                            // 跺机非空闲等待
                            break;
                        }
                        // 给PLC写入任务数据
                        var listResult = new List<Result>();

                        // 任务号、任务类型、托盘号
                        var modPosTask = djInfos.FirstOrDefault(s => s.Text == "任务号");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosTask.PosType, djMod.DbNumber, modPosTask.PlcPos, modTask.TaskNo));
                        var modPosTaskType = djInfos.FirstOrDefault(s => s.Text == "任务类型");
                        var taskTypeStr = (int)modTask.TaskType;
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosTaskType.PosType, djMod.DbNumber, modPosTaskType.PlcPos, taskTypeStr.ToString()));
                        var modPosPalletNo = djInfos.FirstOrDefault(s => s.Text == "托盘号");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosPalletNo.PosType, djMod.DbNumber, modPosPalletNo.PlcPos, modTask.PalletNo));

                        //起始工位
                        var modPosStrStationNum = djInfos.FirstOrDefault(s => s.Text == "起始工位");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrStationNum.PosType, djMod.DbNumber, modPosStrStationNum.PlcPos, modDevice.StationNum));

                        //取货排、列、层
                        var modPosStrPai = djInfos.FirstOrDefault(s => s.Text == "取货排");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrPai.PosType, djMod.DbNumber, modPosStrPai.PlcPos, sInfo.Pai));
                        var modPosStrLie = djInfos.FirstOrDefault(s => s.Text == "取货列");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrLie.PosType, djMod.DbNumber, modPosStrLie.PlcPos, sInfo.Lie));
                        var modPosStrCeng = djInfos.FirstOrDefault(s => s.Text == "取货层");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosStrCeng.PosType, djMod.DbNumber, modPosStrCeng.PlcPos, sInfo.Ceng));
                        //放货排、列、层
                        var modPosEndPai = djInfos.FirstOrDefault(s => s.Text == "放货排");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndPai.PosType, djMod.DbNumber, modPosEndPai.PlcPos, pai));
                        var modPosEndLie = djInfos.FirstOrDefault(s => s.Text == "放货列");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndLie.PosType, djMod.DbNumber, modPosEndLie.PlcPos, lie));
                        var modPosEndCeng = djInfos.FirstOrDefault(s => s.Text == "放货层");
                        listResult.Add(plcStackeConn.SetPlcDBValue(modPosEndCeng.PosType, djMod.DbNumber, modPosEndCeng.PlcPos, ceng));

                        if (listResult.All(s => s.IsSucceed))
                        {
                            // 写入跺机 830
                            var retc2 = plcStackeConn.SetPlcDBValue(djMod.PosType, djMod.DbNumber, djMod.WcsPos, "830");

                            // 插入任务明细 任务明细实体类
                            var modInsertTaskMonitor = new WcsTaskMonitor()
                            {
                                TaskNo = modTask.TaskNo,
                                PlcId = modDevice.Id,
                                PlcName = modDevice.Text,
                                PalletNo = modTask.PalletNo,
                                Status = TaskStatusEnum.Complete,
                                StartLocat = modDevice.StationNum,
                                EndLocat = modTask.EndLocate                  // 目标储位地址
                            };
                            if (!retc2.IsSucceed)
                            {
                                modInsertTaskMonitor.InteractiveMsg = $"输送线取货工位：{modDevice.StationNum},写入垛机取货任务830失败等待再次写入";
                                // 插入交互日志
                                _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                                //下发任务日志
                                HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                                break;

                            }
                            modInsertTaskMonitor.InteractiveMsg = $"跺机写入指令830：{modDevice.StationNum}工位====》" + modTask.EndLocate + "储位地址!";
                            // 插入交互日志
                            _db.Insertable(modInsertTaskMonitor).ExecuteCommand();
                            if (PLCTaskAction.boRefresh)
                            {
                                //下发任务日志
                                HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                            }

                        }




                    }

                    #endregion
                }
                break;
            #region 出库交互

            case "420":
                {
                    #region 托盘到达拣选工位/出库口
                    // 出库口
                    // led显示托盘信息
                    // 写入430
                    var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "430");

                    if (ret.IsSucceed)
                    {
                        var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                        var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                        var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                        var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
                        var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
                        var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
                        // 插入任务明细 
                        var modInsertTaskMonitor = new WcsTaskMonitor()
                        {
                            TaskNo = taskVal,
                            PlcId = modDevice.Id,
                            PlcName = modDevice.Text,
                            InteractiveMsg = $"写入指令430：托盘到达{modDevice.StationNum}工位",
                            PalletNo = palletVal,
                            Status = TaskStatusEnum.Complete,
                            StartLocat = starVal,
                            EndLocat = modDevice.StationNum,
                        };

                        // 插入交互日志
                        _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                        // 通知任务界面任务已存在更新 请更新界面
                        HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());

                        // led更新内容
                        //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                        //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                    }
                    // 反馈WMS出库完成
                    //TaskReques taskReques = new TaskReques();
                    //taskReques.taskNo = TaskNo;
                    //taskReques.TaskType = "1";
                    //taskReques.TaskStatus = "2";
                    //bool bl = wcsMySql.RequestTasks(taskReques);
                    #endregion
                }
                break;
            case "440":
                {
                    #region 拣选完成,托盘离开工位
                    // 写入450
                    var ret = plcConn.SetPlcDBValue(modDevice.PosType, modDevice.DbNumber, modDevice.WcsPos, "450");
                    if (ret.IsSucceed)
                    {
                        var modPosTask = modDevice.listStation.FirstOrDefault(m => m.Text == "任务号");
                        var (res, taskVal) = plcConn.GetPlcDBValue(modPosTask.PosType, modDevice.DbNumber, modPosTask.PlcPos);
                        var modPosPallet = modDevice.listStation.FirstOrDefault(m => m.Text == "托盘码");
                        var (res2, palletVal) = plcConn.GetPlcDBValue(modPosPallet.PosType, modDevice.DbNumber, modPosPallet.PlcPos);
                        var modPosStarStationNum = modDevice.listStation.FirstOrDefault(m => m.Text == "起始工位");
                        var (res3, starVal) = plcConn.GetPlcDBValue(modPosStarStationNum.PosType, modDevice.DbNumber, modPosStarStationNum.PlcPos);
                        // 插入任务明细 
                        var modInsertTaskMonitor = new WcsTaskMonitor()
                        {
                            TaskNo = taskVal,
                            PlcId = modDevice.Id,
                            PlcName = modDevice.Text,
                            InteractiveMsg = $"写入指令450：{modDevice.StationNum}拣选完成,托盘离开工位",
                            PalletNo = palletVal,
                            Status = TaskStatusEnum.Complete,
                            StartLocat = starVal,
                            EndLocat = modDevice.StationNum,
                        };

                        // 插入交互日志
                        _db.Insertable(modInsertTaskMonitor).ExecuteCommand();

                        // 通知任务界面任务已存在更新 请更新界面
                        HubUtil.PublicTaskMonitor(modInsertTaskMonitor.Adapt<WcsTaskMonitorOutput>());
                        // led更新内容
                        //DataRow ConveyorsRow10 = PlcInfoDt.Select($"Level = '2' and  StationNum = '{EndLocat}'")[0];
                        //LedDisplay(ConveyorsRow10["LedIP"].ToString(), "工位:" + EndLocat, "出库中 " + $"储位地址：{StartLocat}", "托盘号:" + PalletNo);
                    }
                    #endregion
                }
                break;

            #endregion

            default: break;
        }

    }
    /// <summary>
    /// AGV业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void AGV(WcsDeviceDto modDevice)
    {

    }
    /// <summary>
    /// 叠托机业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void PalletMachine(WcsDeviceDto modDevice)
    {

    }

    /// <summary>
    /// 拆垛机器人业务处理
    /// </summary>
    /// <param name="modDevice"></param>
    private static void StackingRobot(WcsDeviceDto modDevice)
    {
        var plcConn = modDevice.PLCUtil;
        switch (modDevice.Value.ToString())
        {
            case "0":
                {
                    // 若拆垛工位为空闲，查询任务表是否有未绑定的出库任务，做绑定操作
                }
                break;
            default:
                break;
        }
    }

    private static void Test(WcsDeviceDto modDevice)
    {
        //写死测试读string
        var (res, val) = modDevice.PLCUtil.GetPlcDBValue(PLCDataTypeEnum.String, "DB100", "64");
        Console.WriteLine("DB100.64----" + val);
        //测试批量读取
        Dictionary<string, PLCDataTypeEnum> listaddress = new Dictionary<string, PLCDataTypeEnum>();
        foreach (var modStation in modDevice.listStation)
        {
            listaddress.Add(modStation.PlcPos, modStation.PosType);
        }
        var result = modDevice.PLCUtil.GetPlcBatchDBValue(listaddress);
        if (result.Value.Count > 0)
        {
            foreach (var value in result.Value)
            {
                Console.WriteLine("地址" + value.Key + "----值" + value, value);
            }
        }
        if (!result.IsSucceed)
        {
            foreach (var err in result.ErrList)
            {
                Console.WriteLine(err);
            }
            if (result.Value.Count > 0)//有错误的也有成功的
            {

            }
        }
        if (modDevice.Value == 820)
        {
            //测试写入830
            //var result = mod.PLCUtil.SetPlcDBValue(mod.PosType.Value, mod.DbNumber, mod.PlcPos, "830");
            ////写入是否成功
            //if (result.IsSucceed)
            //{

            //}
        }
        else if (modDevice.Value == 840)
        {

        }
        else if (modDevice.Value == 860)
        {

        }
    }



}